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We thank Anupriya Ankolekar, Takuya Nishimura, Terry Payne, Rahul Sing and Naveen Srinivasan for the useful discussions and inputs during the planning and implementation of this work. The research was funded by the Defense Advanced Research Projects Agency as part of the DARPA Agent Markup Language (DAML) program under Air Force Research Laboratory contract F30601-00-2-0592 to Carnegie Mellon University.

Massimo Paolucci 2003-02-28